Person:

Book, Wayne J.

Permanent Link

https://hdl.handle.net/1853/71109

Associated Organization(s)

Organizational Unit

George W. Woodruff School of Mechanical Engineering

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Publication Search Results

Now showing 1 - 10 of 14

Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration

(Georgia Institute of Technology, 2002-06) Magee, David P. ; Book, Wayne J.

The remediation and management of various nuclear sites will require inspection, removal and surveillance operations within many waste storage tanks. Due to the large dimensions, many tasks will be performed with a small articulated robot mounted on a long reach manipulator. However, the motion of the small arm tends to excite the vibrational modes of the larger structure. This paper presents several applications of a finite impulse response (FIR) compensation filter within the micromanipulator's joint feedback control structure to suppress the structure's flexible behavior. Simulation results of filtering a Schilling manipulator's azimuth joint commands while mounted on the tip of a long slender beam verify the effectiveness of the proposed control strategies.
Time-Delay Command Shaping Filters: Robust and/or Adaptive

(Georgia Institute of Technology, 1999-09) Book, Wayne J. ; Magee, David P. ; Rhim, Sungsoo

Time-delay command shaping filters for reducing the vibrational response of flexible systems are introduced and discussed. Special attention is given to the role played by robustness and adaptation in producing effective filters even when system parameters change. Results from several authors are used to compare and contrast these approaches.
Optimal filtering to minimize the elastic behavior in serial link manipulators

(Georgia Institute of Technology, 1998-06) Magee, David P. ; Book, Wayne J.

This paper presents a new optimal filtering algorithm called the Optimal Arbitrary Time-delay (OAT) filter that has been designed to minimize the elastic behavior in serial link manipulators. However, as the analysis will show, the filtering algorithm can reduce the level of vibration in any system whose elastic motion can be modeled as a set of linear, ordinary differential equations with proportional damping. After analyzing some of the filter properties, experimental results demonstrate just how well the optimal filtering algorithm can minimize vibration.
Combined Command Shaping and Inertial Damping for Flexure Control

(Georgia Institute of Technology, 1997-06) Magee, David P. ; Cannon, David W. ; Book, Wayne J.

This paper describes a new control approach that combines command shaping and inertial damping to control small robots that are attached to the end of a flexible manipulator. The command shaping guarantees that the level of vibration will be minimized during the robot motion and the inertial damping removes any residual effects after the motion is complete. Experimental results from two different test beds verifY the effectiveness of the combined approach for minimizing vibration in elastic systems.
A Novel Teleoperated Long-Reach Manipulator Testbed and its Remote Capabilities via the Internet

(Georgia Institute of Technology, 1996-06) Lane, Hobson ; Love, Lonnie J. ; Magee, David P. ; Obergfell, Klaus ; Book, Wayne J.

During the 1995 DOE Robotics Forum at Albuquerque, New Mexico, Georgia Tech's Intelligent Machine Dynamics Laboratory demonstrated remote display capabilities of its telemanipulated long-reach manipulator testbed through the Internet. This paper describes the testbed and addresses the methods, limitations, and capabilities of remote operations.
Experimental Study on Micro/Macro Manipulator Vibration Control

(Georgia Institute of Technology, 1996-04) Cannon, David W. ; Magee, David P. ; Lew, Jae Y. ; Book, Wayne J.

This work investigates issues related to vibration control in a micro/macro manipulator. This paper provides experimental results obtained by the combination of two dissimilar flexible control techniques to a micro/macro flexible link testbed. Inertial damping and command filtering techniques are implemented simultaneously to form a robust controller that results in minimal residual vibration due to commanded movements or external excitations. Experimental results show the effectiveness of both control techniques in their individual state as well as the improved performance resulting from their combination. The experimental results of the combined controller clearly show the advantages of each technique.
Structural Vibration Control of Micro/Macro-Manipulator Using Feedforward and Feedback Approaches

(Georgia Institute of Technology, 1995-09) Lew, Jae Young ; Cannon, David W. ; Magee, David P. ; Book, Wayne J.

Pacific Northwest Laboratory (PNL) researchers investigated the combined use of two control approaches to minimize micro/macro-manipulator structural vibration: 1) modified input shaping and 2) inertial force active damping control. Modified input shaping (MIS) is , used as a feedforward controller to modify reference input by canceling the vibratory motion. Inertial force active damping (IF AD) is applied as a feedback controller to increase the system damping and robustness to unexpected disturbances. Researchers implemented both control schemes in the PNL micro/macro flexible-link manipulator testbed collaborating with Georgia Institute of Technology. The experiments, successfully demonstrated the effectiveness of two control approaches in reducing structural vibration. Based on the results of the experiments, the combined use of two controllers is recommended for a micro/macro manipulator to achieve the fastest response to commands while canceling disturbances from unexpected forces.
Filtering Micro-Manipulator Wrist Commands to Prevent Flexible Base Motion

(Georgia Institute of Technology, 1995-06) Magee, David P. ; Book, Wayne J.

This paper examines control issues related to positioning a small articulating robot attached to a much larger, flexible manipulator. By shaping the joint position error with a finite impulse response filter actuation torques can be found to maneuver the small robot with minimal residual vibration of its base. This paper develops a new filter form with the advantage of shorter delay times than current input shaping methods. Experimental results show the effectiveness of the new filtering technique to prevent vibration when used as part of a feedback control system.
A comparison of joint control algorithms for teleoperated pick and place tasks using a flexible manipulator

(Georgia Institute of Technology, 1994-10) Love, Lonnie J. ; Magee, David P. ; Book, Wayne J.

This paper presents initial results of an on going study of robot control algorithms used for teleoperation of long reach manipulators. The focus of the paper is the effect of the slave robot control algorithm on the performance of a teleoperation schemes that uses long reach, flexible manipulators. This study investigates the influence of PD, PD with input shaping, and PD with modified command filtering on pick and place teleoperation tasks. Data from 90 trials using 6 operators is used in an attempt to identify any increase in performance resulting from the use of any of the above control schemes. The results of this investigation indicate an increase in performance, based upon a combination of interaction forces and task execution time, of teleoperated pick and place tasks when a flexible robot uses either PD with input shaping or PD with modified command filtering.
Implementing Modified Command Filtering to Eliminate Multiple Modes of Vibration

(Georgia Institute of Technology, 1993-06) Magee, David P. ; Book, Wayne J.

The requirements for large robots in waste management and space applications necessitate active vibration control algorithms. The use of long, flexible links provides the needed range of motion but their inherent flexibility can generate undesirable vibrations making both control and endpoint positioning difficult. This paper presents two shaping algorithms, the impulse shaping method and the modified command filtering technique, to eliminate the first two modes of vibration in a flexible manipulator. The vibration suppression capabilities are demonstrated using a large elliptic trajectory that produces a significant change in the system properties of the two-link robot. The acceleration response of the tip of the manipulator provides a means of comparison for the different shaping algorithms.